/*
 * AdvanceAction.h
 *
 *  Created on: 13/mag/2014
 *      Author: va2013
 */

#ifndef AdvanceAction_H_
#define AdvanceAction_H_
#include <Aria.h>
#include <iostream>
class AdvanceAction : public ArAction{
private:
	uint16_t* distanceInMm;
	uint16_t setPoint;
	ArActionDesired myDesired;
	int vMax;
	int vMin;
	uint16_t dMax;
	int decel;
public:
	AdvanceAction(uint16_t* distanceInMm, uint16_t setPoint,uint16_t dMax, int vMax, int vMin);
	virtual ~AdvanceAction();
	ArActionDesired* fire(ArActionDesired currentDesired);
	void setDecel(int decel);
};

#endif /* AdvanceAction_H_ */
